Move scripts from wam_node_sim to wam_node_test.

diff --git a/wam_bringup/launch/display.launch b/wam_bringup/launch/display.launch
new file mode 100644 (file)
index 0000000..f32d143
--- /dev/null
+++ b/wam_bringup/launch/display.launch
@@ -0,0 +1,15 @@
+<launch>
+       <arg name="table" default="true"/>
+       <arg name="bhand" default="true"/>
+
+       <include file="$(find wam_description)/launch/wam.launch" >
+               <arg name="table" value="$(arg table)" />
+               <arg name="bhand" value="$(arg bhand)" />
+       </include>
+
+       <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+
+       <node unless="$(arg table)" name="rviz" pkg="rviz" type="rviz" args="-d $(find wam_bringup)/rviz/display.rviz" required="true"/>
+       <node if="$(arg table)" name="rviz" pkg="rviz" type="rviz" args="-d $(find wam_bringup)/rviz/display.rviz -f world" required="true"/>
+
+</launch>

diff --git a/wam_bringup/launch/gazebo.launch b/wam_bringup/launch/gazebo.launch
index 239e32d..09b03fa 100644 (file)
--- a/wam_bringup/launch/gazebo.launch
+++ b/wam_bringup/launch/gazebo.launch
@@ -3,7 +3,7 @@
        <arg name="headless" default="false"/>
        <arg name="use_sim_time" default="true"/>
        <arg name="table" default="true"/>
-       <arg name="bhand" default="false"/>
+       <arg name="bhand" default="true"/>
 
        <!-- This is the default Barrett WAM Controller, used by libbarrett -->
        <arg name="controller" default="pid_plus_gravity_controller"/>

diff --git a/wam_bringup/rviz/display.rviz b/wam_bringup/rviz/display.rviz
new file mode 100644 (file)
index 0000000..09ce650
--- /dev/null
+++ b/wam_bringup/rviz/display.rviz
@@ -0,0 +1,278 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 558
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        bhand_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_finger1_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_finger1_link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_finger1_link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_finger2_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_finger2_link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_finger2_link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_finger3_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_finger3_link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_finger3_link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bhand_origin:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        leg1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        leg2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        leg3_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        leg4_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        table_top_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wam_link_0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wam_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wam_link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wam_link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wam_link_3_virtual:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wam_link_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wam_link_4_virtual:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wam_link_5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wam_link_6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wam_link_7:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wam_link_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wam_link_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wam_origin:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wam_tool_plate:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 6.422440528869629
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 1.4341685771942139
+        Y: -0.9101573824882507
+        Z: 0.9468344449996948
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.34479641914367676
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 2.490401029586792
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000002b6000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003a000002b60000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024200fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 56
+  Y: 37

diff --git a/wam_node_sim/launch/gazebo.launch b/wam_node_sim/launch/gazebo.launch
index a83f925..a3e94c4 100644 (file)
--- a/wam_node_sim/launch/gazebo.launch
+++ b/wam_node_sim/launch/gazebo.launch
@@ -5,10 +5,6 @@
        <arg name="table" default="true"/>
        <arg name="bhand" default="true"/>
 
-       <!-- This is the default Barrett WAM Controller, used by libbarrett -->
-       <arg name="controller" default="pid_plus_gravity_controller"/>
-       <arg name="config" default="$(find wam_bringup)/config/$(arg controller).yaml"/>
-
        <group>
                <remap from="joint_states" to="gazebo/joint_states" />
                <remap from="wam/command" to="controller/command" />
@@ -20,8 +16,6 @@
                        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
                        <arg name="table" value="$(arg table)"/>
                        <arg name="bhand" value="$(arg bhand)"/>
-                       <arg name="controller" value="$(arg controller)" />
-                       <arg name="config" value="$(arg config)" />
                </include>
 
                <include file="$(find wam_node_sim)/launch/wam_node_sim.launch" />
@@ -31,6 +25,4 @@
                <rosparam param="source_list">["/wam/joint_states","/bhand/joint_states"]</rosparam>
        </node>
 
-       <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
-
 </launch>

diff --git a/wam_node_sim/scripts/cart_move.sh b/wam_node_test/scripts/cart_move.sh
similarity index 100%
rename from wam_node_sim/scripts/cart_move.sh
rename to wam_node_test/scripts/cart_move.sh

diff --git a/wam_node_sim/scripts/close_grasp.sh b/wam_node_test/scripts/close_grasp.sh
similarity index 100%
rename from wam_node_sim/scripts/close_grasp.sh
rename to wam_node_test/scripts/close_grasp.sh

diff --git a/wam_node_sim/scripts/close_spread.sh b/wam_node_test/scripts/close_spread.sh
similarity index 100%
rename from wam_node_sim/scripts/close_spread.sh
rename to wam_node_test/scripts/close_spread.sh

diff --git a/wam_node_sim/scripts/finger_pos.sh b/wam_node_test/scripts/finger_pos.sh
similarity index 100%
rename from wam_node_sim/scripts/finger_pos.sh
rename to wam_node_test/scripts/finger_pos.sh

diff --git a/wam_node_sim/scripts/go_home.sh b/wam_node_test/scripts/go_home.sh
similarity index 100%
rename from wam_node_sim/scripts/go_home.sh
rename to wam_node_test/scripts/go_home.sh

diff --git a/wam_node_sim/scripts/grasp_pos.sh b/wam_node_test/scripts/grasp_pos.sh
similarity index 100%
rename from wam_node_sim/scripts/grasp_pos.sh
rename to wam_node_test/scripts/grasp_pos.sh

diff --git a/wam_node_sim/scripts/joint_move.sh b/wam_node_test/scripts/joint_move.sh
similarity index 100%
rename from wam_node_sim/scripts/joint_move.sh
rename to wam_node_test/scripts/joint_move.sh

diff --git a/wam_node_sim/scripts/open_grasp.sh b/wam_node_test/scripts/open_grasp.sh
similarity index 100%
rename from wam_node_sim/scripts/open_grasp.sh
rename to wam_node_test/scripts/open_grasp.sh

diff --git a/wam_node_sim/scripts/open_spread.sh b/wam_node_test/scripts/open_spread.sh
similarity index 100%
rename from wam_node_sim/scripts/open_spread.sh
rename to wam_node_test/scripts/open_spread.sh

diff --git a/wam_node_sim/scripts/ortn_move.sh b/wam_node_test/scripts/ortn_move.sh
similarity index 100%
rename from wam_node_sim/scripts/ortn_move.sh
rename to wam_node_test/scripts/ortn_move.sh

diff --git a/wam_node_sim/scripts/pose_move.sh b/wam_node_test/scripts/pose_move.sh
similarity index 100%
rename from wam_node_sim/scripts/pose_move.sh
rename to wam_node_test/scripts/pose_move.sh

diff --git a/wam_node_sim/scripts/spread_pos.sh b/wam_node_test/scripts/spread_pos.sh
similarity index 100%
rename from wam_node_sim/scripts/spread_pos.sh
rename to wam_node_test/scripts/spread_pos.sh